Determining the Neutral Flexion Axis of the Human Knee Using a Franka Robot

Institut

TUM Munich Institute of Robotics and Machine Intelligence (Institut)

Typ

Semesterarbeit / Masterarbeit /

Inhalt

 

Beschreibung

Background:

The current state of the art in robotic manipulation of the human knee still relies on ex-vivo testing, which cannot be translated to patients. We aim to develop a testbench that allows a robot to assess different knee pathologies in an objective, repeatable way. 

The first step toward manipulating the knee is examining its passive movement. To do this, the lower leg is moved compliantly to find the knee's neutral flexion axis. The aim of this thesis is to develop the control strategy for calculating this axis, ensuring the robot moves compliantly throughout to prevent injury to the patient. 


Possible Workpackages:

• Familiarization with the development environment and motion capture system
• Improvement of the existing test-bench
• Implementation of the neutral alignment control
• Data acquisition with different knee mock-ups
• Data organization, preprocessing, and documentation
• Reporting and presenting experimental findings

Voraussetzungen

Prerequisites:

• Background in Mechanical, Mechatronics, Robotics, or Control Engineering
• Basic programming skills (especially C++) and/or familiarity with robot programming
• Understanding of control fundamentals
• Hands-on "maker" attitude and ability to work with measurements
• Bonus: knowledge of CAD

Möglicher Beginn

sofort

Kontakt

Alexander Gérard
alexander.gerardtum.de